A robot elevator system and method based on the collection of call button indicator lights

Abstract

The application discloses a robot elevator system and method based on internal call button indicator light collection, which comprises a robot elevator controller, an internal call signal collection and controller and a door state collection and controller. The internal call signal collection and controller is used for collecting the registration state of the internal call button indicator light and applying the registration trigger; the door state collection and controller is used for collecting the door opening to position state and providing a confirmation signal. The robot elevator controller receives an elevator task containing a target floor, and determines whether the target floor is a station based on dynamic or static station criteria: the dynamic criterion monitors the state after the effective registration, triggers again when the registration turns to unregistration, and determines the station when the unregistration is triggered for N times in succession; the static criterion determines the station when the unregistration is triggered for N times in succession. After determining the station and receiving the door opening confirmation signal, the robot is outputted with an elevator entry or exit permission signal. The application does not need to install external sensors, has low cost, simple deployment and high reliability.

Description

Technical Field

[0001] This invention relates to the field of robotic elevator technology, specifically to a robotic elevator system, method, device, robot, elevator system, cloud scheduling system, and computer-readable storage medium based on the acquisition and control of the elevator's internal state. Background Technology

[0002] With the rapid development of robotics technology, the autonomous movement of various robots for delivery, cleaning, inspection, and handling across floors in office buildings, industrial parks, residences, and factories has become a core necessity. To enable robots to ride elevators, current technologies generally employ the solution of installing external sensing hardware in the elevator shaft or on top of the elevator car. These sensors (such as infrared sensors and wireless ranging sensors) detect the real-time floor position and door opening / closing status of the elevator car, informing the robot of this information to guide it in entering and exiting the elevator.

[0003] The specific workflow of this existing technical solution is typically as follows: the robot sends a command to the elevator system to summon the elevator; the elevator system simulates pressing the departure floor button through a button control circuit; the robot continuously queries the elevator system for the elevator status; the elevator system obtains the floor where the elevator car is located and the door opening / closing status through the added floor detection sensor and door opening detection sensor, and returns the results to the robot; the robot determines whether it has reached the departure floor and the door is open based on the returned information, and thus decides whether to enter the elevator; after entering the elevator, the robot registers the destination floor and determines whether to exit the elevator using a similar process.

[0004] However, this solution of adding external sensors not only relies on sensors to obtain the elevator's physical state, but also requires the robot to actively poll the elevator system repeatedly. The system itself cannot autonomously determine the arrival time based on the elevator's native electrical signals, resulting in a series of significant drawbacks. Specifically: First, the hardware procurement cost is high, requiring the purchase of various sensors, matching metal magnetic shielding plates, mounting brackets, and cable accessories, resulting in a substantial hardware investment. Second, the construction and installation costs are high and there are safety hazards. All sensing hardware must be installed on the elevator car top or inside the shaft, requiring construction personnel to enter the heights to perform specialized equipment operations, installing the equipment floor by floor, which incurs high labor costs and safety risks. Third, the debugging cost is high, requiring customized debugging for each elevator floor by floor. For example, wireless ranging sensors need to be calibrated for installation height and configured for floor mapping on a floor-by-floor basis, and infrared sensors need to be installed and debugged with metal magnetic shielding plates on a floor-by-floor basis to achieve level alignment. The debugging workload is large, the labor cost is high, and in some scenarios, installation is even impossible due to environmental limitations. Finally, the long-term operation and maintenance costs are high. Hardware deployed in the high-dust environment of the well is prone to failure due to dust accumulation and other factors. Troubleshooting, replacement and recalibration all require re-entry into the well, which is extremely inconvenient for operation and maintenance. Summary of the Invention

[0005] The purpose of this invention is to solve the technical problem in existing robot elevator riding solutions where robots cannot safely and reliably complete cross-floor elevator riding tasks autonomously without relying on external sensors installed in the elevator shaft or on the top of the car.

[0006] The technical problem of this invention is solved by the following technical solution: In a first aspect, the present invention provides a robot elevator system based on internal call button indicator light acquisition, including a robot elevator controller, an internal call signal acquisition and controller, and a door status acquisition and controller; The internal call signal acquisition and controller is used to acquire the registration status of the internal call button indicator lights on each floor inside the target elevator car, and to apply registration trigger to the corresponding internal call button in a simulated button pressing manner according to the instructions of the robot elevator controller. The door status acquisition and controller is used to acquire the open position status of the inner door of the target elevator car and provide the robot elevator controller with an inner door opening confirmation signal; The robot elevator controller is configured as follows: Receive an elevator ride task from a robot or robot platform and obtain the target elevator, wherein the elevator ride task includes a target floor; the target floor includes the departure floor S and / or the destination floor D; In response to the elevator ride task, the internal call signal acquisition and controller is controlled to apply a registration trigger to the internal call button of the target floor in the target elevator in a simulated button press manner, so as to control the target elevator to run to the target floor; Obtain the registration status of the target floor, and determine whether the target floor is an arrival floor based on one of the following two arrival criteria; Dynamic arrival criteria: If the target floor is validly registered, its status change is continuously monitored. When the target floor changes from a registered state to an unregistered state, a registration trigger is applied to the target floor again. If the target floor re-enters the registered state after the second trigger, it is determined to be an abnormal cancellation event, and monitoring continues. If the target floor is still unregistered after the second trigger, and N consecutive registration triggers, including this second trigger, fail to bring the target floor into the registered state, then the target floor is determined to be an arrival floor; where N is a preset positive integer. Static arrival criterion: If the target floor is initially unregistered and fails to form a valid registration after N consecutive registration triggers, then the target floor is determined to be an arrival floor; where "failed to form a valid registration" includes the case where the floor is unregistered at the time of the first detection and fails to enter the registration state after N consecutive registration triggers.

[0007] When the robot elevator controller determines that S is the arrival floor and receives the confirmation signal that the inner door of the car has opened, it outputs an elevator entry permission signal to the robot or robot platform to indicate that entry into the target elevator is permitted. When the robot elevator controller determines that D is the arrival floor and receives the confirmation signal that the inner door of the car has opened, it outputs an exit permission signal to the robot or robot platform to indicate that the elevator is allowed to exit the target elevator.

[0008] While the existing solution of adding external sensors can obtain elevator floor location information, it has problems such as high hardware procurement costs, the need for high-altitude operations in the shaft for construction and installation, large workload for floor-by-floor debugging and calibration, and inconvenience in long-term operation and maintenance.

[0009] Some solutions are unable to identify and handle abnormal operating conditions such as manual cancellation, reverse cancellation of elevator numbers, and special elevator states. Furthermore, they lack the ability to collect and control the status of elevator car doors, which makes it impossible to ensure that the car doors remain open during the robot's entry and exit from the elevator. As a result, the system is difficult to implement stably in actual deployment.

[0010] Therefore, how to non-invasively collect the status signals of the existing internal call button indicator lights inside the elevator car without physically modifying the elevator shaft or relying on external sensors, and establish a reliable arrival determination mechanism based on the registered status changes, combined with the real-time collection and control of the car door status, to form a complete, closed-loop robot elevator safety control scheme, is a technical problem that urgently needs to be solved to achieve low-cost, highly reliable, and easy-to-deploy robot elevator travel across floors.

[0011] In some embodiments, the technical solution for solving the technical problem of the present invention further includes the following technical features: The destination floor D and the departure floor S are different floors, and the robot elevator controller is further configured as follows: When the robot elevator controller determines that S is the arrival floor, it applies a registration trigger to D; if D enters the registration state after the trigger, S is finally confirmed as the arrival floor; if D does not form a valid registration, the elevator is determined to be in a special state, and an abnormal signal is output to the robot or robot platform.

[0012] In some embodiments, the robot elevator controller is further configured to: When the target floor is determined to be the arrival floor based on the static arrival criterion, the door status acquisition and controller is controlled to trigger the interior door opening button in a simulated button pressing manner to generate a car door opening signal.

[0013] In some embodiments, the robot elevator controller is further configured to: acquire the registration status of the target floor before applying a registration trigger; if the target floor is already in a registered state, then the registration trigger is not applied again. That is, the embodiments of the present invention cover the following two operation sequences: (1) First, check the on / off status of the indicator lights on the target floor buttons, and then decide whether to perform a button simulation pressing operation based on the detection results; (2) First apply the registration trigger, then check the registration status to determine whether the floor has been reached.

[0014] The two timing sequences described above are applicable to different application scenarios and both fall within the protection scope of this invention.

[0015] In some embodiments, the robot elevator controller is further configured to perform a detection only after a preset time has elapsed since the corresponding button was released each time the registration status of the target floor is acquired.

[0016] In some embodiments, the internal call signal acquisition and controller includes a state change detection circuit, which is connected in parallel to both ends of the internal call button indicator line, and is used to infer the state change of the internal call button indicator by detecting the voltage and / or waveform changes at both ends.

[0017] In some embodiments, the internal call signal acquisition and controller includes a button control circuit, which includes a relay. The contacts of the relay are connected in parallel to the two ends of the internal call button as passive dry contacts to simulate the short-circuit conduction logic of manual button pressing.

[0018] In some embodiments, the robot elevator controller is further configured to: after determining that the car has arrived at the departure floor or the destination floor, and before the robot completes entering or exiting the elevator, continuously send an opening-holding command to the door status acquisition and controller to maintain the car door in the open position; the opening-holding command is implemented by simulating pressing the elevator door opening button.

[0019] Secondly, the present invention provides a robot elevator riding method based on the acquisition of data from the internal call button indicator light, comprising the following steps: S1. The robot elevator controller receives the elevator riding task from the robot or robot platform and obtains the target elevator. The elevator riding task includes the target floor, which includes the departure floor S and / or the destination floor D. S2. In response to the elevator riding task, the robot elevator controller controls the internal call signal acquisition and controller to apply a registration trigger to the internal call button of the target floor in the target elevator in a simulated button pressing manner, so as to control the target elevator to run to the target floor; S3. Obtain the registration status of the target floor, and determine whether the target floor is an arrival floor based on one of the following two arrival criteria: Dynamic arrival criteria: If the target floor is validly registered, its status change is continuously monitored. When the target floor changes from a registered state to an unregistered state, a registration trigger is applied to the target floor again. If the target floor re-enters the registered state after the second trigger, it is determined to be an abnormal cancellation event, and monitoring continues. If the target floor is still unregistered after the second trigger, and N consecutive registration triggers, including this second trigger, fail to bring the target floor into the registered state, then the target floor is determined to be an arrival floor; where N is a preset positive integer. Static arrival criterion: If the target floor is not registered in the first detection and fails to form a valid registration after N consecutive registration triggers, then the target floor is determined to be the arrival floor; S4. When S is determined to be the arrival floor and a confirmation signal for the opening of the inner door of the car is received, an entry permission signal is output to the robot or robot platform to indicate that entry into the target elevator is permitted. S5. When D is determined to be the arrival floor and a confirmation signal for the inner door of the car is received, an exit permission signal is output to the robot or robot platform to indicate that the elevator is allowed to leave the target elevator.

[0020] In some embodiments, the destination floor D and the departure floor S are different floors, and the robot elevator riding method further includes: S6. When S is determined to be the arrival floor, a registration trigger is applied to D; S7. If D enters the registration state after being triggered, then S is finally confirmed as the arrival floor; S8. If D fails to form a valid registration, the elevator is determined to be in a special state, and an abnormal signal is output to the robot or robot platform.

[0021] In some embodiments, in step S3, when the target floor is determined to be the arrival floor based on the static arrival criterion, the control door status acquisition and controller applies a trigger to the interior door button in a simulated button press manner to generate a car door opening signal.

[0022] In some embodiments, in step S2, before applying the registration trigger to the target floor, the registration status of the target floor is first obtained; if the target floor is already in a registered state, the registration trigger is not applied again.

[0023] In some embodiments, each time the registration status of the target floor is obtained, a preset time is elapsed after the corresponding button is released before the detection is performed.

[0024] Thirdly, the present invention provides a robot, comprising: Mobile chassis; A communication module for communicating with the robot elevator system described in the first aspect; A processor, a memory, and a computer program stored in the memory and executable on the processor; When the processor executes the computer program, it controls the robot to perform the following steps: The elevator request, which includes target floor information, is sent to the robot elevator system via the communication module. The communication module receives an elevator entry permission signal from the robot elevator system. Based on the elevator entry permission signal, control the mobile chassis to drive into the elevator car; The communication module receives an exit permission signal from the robot elevator system. Based on the exit permission signal, the mobile chassis is controlled to drive out of the elevator car.

[0025] The robot's functional behavior in response to elevator access permission signals includes sending an elevator access request to the robot's elevator system via the communication module, receiving elevator entry permission signals and / or elevator exit permission signals, and controlling the mobile chassis to enter or exit the elevator car according to the permission signals. This functional behavior is a standardized behavioral interface decoupled from the elevator access decision logic. Therefore, regardless of whether the elevator entry permission signal and elevator exit permission signal are generated and pushed independently by the robot's elevator controller, determined by the robot based on the elevator status obtained from the controller, or generated collaboratively by the robot and controller each undertaking part of the decision-making, the robot's above-mentioned functional behavior remains unchanged, capable of simultaneously covering multiple interaction modes, and its protection scope is not affected by different decision logic affiliations.

[0026] Fourthly, the present invention provides an elevator system, including an elevator body and the robot elevator system described in the first aspect. The robot elevator system realizes the robot's elevator function by collecting data from the internal call button indicator lights on the elevator body and controlling the internal call buttons.

[0027] Fifthly, the present invention provides a cloud-based scheduling system, including a server, which is communicatively connected to at least one robot as described in the third aspect and at least one robot elevator system as described in the first aspect, for forwarding cross-floor tasks to the robot, scheduling when multiple robots simultaneously apply for elevator access, and obtaining elevator status data from the robot elevator system to perform global scheduling and management of elevator access tasks for multiple robots and multiple elevators.

[0028] In a sixth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the robot elevator method described in the second aspect, or implements the steps executed by a processor in the robot described in the third aspect.

[0029] The beneficial effects of this invention compared to the prior art include: The robot elevator system provided by this invention achieves the following beneficial effects through a specific combination and coordinated operation of the robot elevator controller, the internal call signal acquisition and controller, and the door status acquisition and controller.

[0030] This system uses the internal call signal acquisition and controller to collect the state change signals of the internal call button indicator lights as the basis for determining whether the elevator has reached the target floor, thus completely eliminating the need to install any external floor detection sensors in the elevator shaft or on the top of the car. Since the state changes of the internal call button indicator lights are defined by the elevator control system itself and uniquely and necessarily correspond to floor registration and arrival status, the reliability of collecting this signal as a judgment basis is, in principle, higher than any external indirect measurement. This feature allows the system to completely eliminate the need for any external floor detection sensors in the elevator shaft or on the top of the car, directly eliminating the high material costs associated with purchasing external sensors, metal magnetic shielding plates, and other hardware. It also fundamentally avoids the dangerous and tedious procedures of construction personnel entering the shaft for high-altitude installation and floor-by-floor debugging, greatly reducing the construction and time costs of system deployment. Simultaneously, since it no longer relies on external sensors deployed in harsh shaft environments such as high dust and strong electromagnetic interference, this solution completely solves the long-term operational failures caused by sensor dust accumulation, signal interference, or reflection, thus significantly reducing subsequent maintenance costs and improving the system's adaptability to various elevator scenarios.

[0031] Furthermore, this system determines whether a target floor is the correct arrival floor by setting both dynamic and static arrival criteria. The dynamic arrival criterion continuously monitors changes in registration status and triggers a compensation trigger when the status changes from registered to unregistered, effectively solving misjudgment problems caused by manual cancellation or reverse cancellation by the elevator, thus improving the system's fault tolerance and reliability during operation. The static arrival criterion addresses specific scenarios where the target floor cannot be effectively registered after continuous triggering, accurately determining that the target floor is the current floor, thereby avoiding system stagnation due to the elevator being unable to register on this floor. The combination of these two criteria enables the system to adapt to various complex elevator operating conditions, ensuring the safety and reliability of the robot's elevator ride.

[0032] Furthermore, since the core technologies of this system are all concentrated behind the call button panel inside the elevator car, no physical modifications to the elevator shaft are required. On-site construction only requires wiring connections inside the car, eliminating the need for high-altitude work in the shaft or customized debugging work such as floor calibration and leveling alignment for each elevator. It is ready to use immediately after installation. This reduces the system deployment work from "high-altitude work on special equipment" to "ordinary electrical installation and maintenance," significantly improving deployment efficiency and providing a substantial cost advantage throughout the entire lifecycle.

[0033] Ultimately, through the synergistic effect of the above-mentioned "native reliability of the acquired signals", "non-intrusiveness of the installation method" and "extreme simplification of deployment", this invention not only realizes the robot's elevator riding function, but also achieves a systematic reconstruction of existing technical solutions in multiple dimensions such as cost, reliability and deployment efficiency. It realizes a technological leap from "elevator arrival information notification" to "elevator riding safety closed loop", and obtains highly reliable cross-floor elevator riding capability at extremely low cost.

[0034] In addition, some embodiments also have the following beneficial effects: The signal acquisition circuit of this system is passively connected to the control line of the internal call button indicator, achieving electrical isolation from the elevator circuit. The button control adopts a passive dry contact method, simulating the short-circuit conduction logic of manual button pressing, without injecting any voltage or current signal into the elevator system. This non-intrusive installation method ensures the universal compatibility and electrical safety of this system with various elevator internal call control boards, avoiding the risk of system failure due to circuit interference or damage.

[0035] By connecting the internal call signal acquisition and the state change detection circuit in the controller in parallel to the two ends of the internal call button indicator, and detecting voltage and / or waveform changes in a passive manner, the state changes of the internal call button indicator can be accurately inferred without interfering with the original elevator circuit. This improves the compatibility and accuracy of signal acquisition and can be widely adapted to elevator indicator lights using different driving methods such as high and low levels and PWM dimming.

[0036] By using optocouplers in the state change detection circuit, electrical isolation is achieved between the internal circuit of the call signal acquisition and controller and the elevator system circuit, which enhances the system's anti-interference capability and safety, and prevents mutual interference or damage between circuits.

[0037] By using a relay in the button control circuit and connecting it in parallel with the trigger line of the elevator call button in a passive dry contact manner, it can simulate the short-circuit conduction logic of manual button pressing, thereby triggering the elevator call control board to generate a floor registration signal. No voltage needs to be injected into the elevator system, thus ensuring universal compatibility and electrical safety with various elevator call control boards.

[0038] By continuously sending door-holding commands to the door status acquisition and controller after determining that the elevator car has arrived at the departure floor and before the robot completes entering and exiting the elevator, the problem of the door closing prematurely during the robot's entry and exit process, which may pinch the robot, is solved due to the short original door opening time of the elevator. This improves the autonomy and safety of the robot during the elevator ride.

[0039] By introducing both dynamic and static arrival criteria, the system determines whether a target floor is the correct floor. The dynamic arrival criterion continuously monitors changes in registration status and triggers a compensation mechanism when the status changes from registered to unregistered. This effectively identifies and handles abnormal conditions such as manual cancellation or reverse cancellation by the elevator. Multiple loop checks further enhance the robustness of arrival determination, preventing the robot from prematurely exiting the elevator due to misjudgment. The static arrival criterion addresses specific scenarios where the target floor fails to register effectively after continuous triggering. It accurately determines that the target floor is the current floor, preventing system stagnation due to the elevator being unable to register on the current floor. The combination of these two criteria allows the system to adapt to various complex elevator operating conditions, ensuring the safety and reliability of the robot's elevator ride.

[0040] By setting up a mechanism that obtains the registration status of the target floor before applying the registration trigger, and does not apply the registration trigger again if the target floor is already in a registered state, the elevator cancellation problem that may be caused by repeated operations is avoided.

[0041] By setting a mechanism that checks the registration status of the target floor only after a preset time has elapsed since the corresponding button was released each time, the system avoids misjudgments caused by indicator lights being forcibly turned on when buttons are pressed in some elevators, thus ensuring the accuracy of the checks.

[0042] By applying a registration trigger to the destination floor and performing status verification, and by cross-verifying the status changes of the internal call button indicator lights on the two independent floors of departure and destination, the system can effectively identify special states such as fire protection or maintenance where the elevator does not respond to any floor registration. This prevents the system from misjudging the arrival at a station in such states, thereby guiding the robot to perform dangerous actions and significantly improving the system's safety and fault tolerance in the face of extreme working conditions.

[0043] By actively generating a car door opening signal when the target floor is determined to be the arrival floor based on static arrival criteria, the problem of the elevator not automatically opening when the corresponding internal call floor button indicator light is not lit when the elevator is idle and stopped at the target floor with the door closed is solved, thus preventing the system from waiting for the door opening signal. This ensures that the car door can open and guarantees the smooth execution of the system process.

[0044] Other beneficial effects of the embodiments of the present invention will be further described below. Attached Figure Description

[0045] Figure 1 This is a system composition block diagram of the robot elevator system in an embodiment of the present invention.

[0046] Figure 2a and Figure 2b This is a schematic diagram of the circuit connection status of the internal call signal acquisition and controller before and after installation between the elevator internal call control board and the internal call button in an embodiment of the present invention.

[0047] Figure 3 This is a typical circuit diagram of the internal call signal acquisition and controller in an embodiment of the present invention.

[0048] Figure 4 This is an overall workflow diagram of the robot elevator system in this embodiment of the invention.

[0049] Figure 5 This is a flowchart illustrating the basic algorithm for determining floor arrival times in an embodiment of the present invention.

[0050] Figure 6 This is a flowchart illustrating the anti-cancellation verification algorithm in an embodiment of the present invention.

[0051] Figure 7 This is a flowchart illustrating the verification algorithm for elevators under special conditions in an embodiment of the present invention. Detailed Implementation

[0052] The present invention will be further described below with reference to the accompanying drawings and preferred embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0053] It should be noted that the directional terms such as left, right, up, down, top, and bottom used in this embodiment are only relative concepts or are based on the normal use of the product, and should not be considered as restrictive.

[0054] This invention addresses the pain points of existing technologies that involve installing external sensors in elevator shafts or on the top of the car, such as high cost, complex construction and debugging, and poor reliability. It proposes a novel robotic elevator solution. The core concept is to abandon the traditional approach of indirectly measuring elevator floor positions through external sensors, instead utilizing the elevator's inherent signal directly related to floor arrival status—the on / off state of the internal call button indicator light—as the core basis for floor determination. The system uses an internal call signal acquisition and controller installed between the elevator's internal call control board and the buttons to passively collect the state changes of the internal call button indicator light. It then simulates manual button pressing using passive dry contacts, triggering the elevator's internal call control board to generate a floor registration signal. Combined with door status acquisition and control, the robot elevator controller, based on multiple built-in fault-tolerant verification algorithms, accurately and reliably determines the target floor, thereby guiding the robot to complete the elevator ride. This solution completely eliminates reliance on external sensors, achieving extremely low system lifecycle costs and high scenario adaptability.

[0055] Example 1 This invention proposes a robotic elevator system based on the acquisition of indicator lights for internal call buttons. Compared to existing technologies that require additional sensor hardware to be installed in the elevator shaft and on the top of the car, this system determines the floor arrival simply by acquiring the electrical characteristics of the elevator button lights when they turn on and off through an internal call signal acquisition and controller. Then, a passive dry contact method is used to trigger the elevator internal call control board, generating a floor registration signal (its electrical characteristics are non-polarized, no voltage output, and a pure on / off switch contact; it does not output any voltage or current itself, requires no external power supply, and only simulates the short-circuit conduction logic of manually pressing elevator buttons to trigger the call). This achieves the robotic elevator function while reducing the cost of implementation, modification, and subsequent maintenance. The robotic elevator system includes a robotic elevator controller, an internal call signal acquisition and controller, and a door status acquisition and controller.

[0056] The internal call signal acquisition and controller is communicatively connected to the robot elevator controller. It is installed non-invasively between the elevator internal call control board and the internal call button, and collects the on / off status signals of the internal call button indicator lights in real time using an electrically isolated, passive method. Based on the on / off status signals of the internal call button indicator lights corresponding to the target floor received from the internal call signal acquisition and controller, it determines whether the elevator car has arrived at the target floor according to preset logic and transmits the collected status signals to the robot elevator controller. Furthermore, according to the instructions of the robot elevator controller, it triggers the elevator internal call control board in a passive dry contact manner to generate a floor registration signal. The door status acquisition and controller is communicatively connected to the robot elevator controller, and is used to collect the elevator car door operating status in real time and transmit this status data to the robot elevator controller. The door status acquisition and controller is also connected to the elevator car interior door button, and is used to trigger the interior door button in a simulated button press manner according to the instructions of the robot elevator controller to generate a car door opening signal or maintain the car door in the open position. The robot elevator controller is configured as follows: The system receives an elevator-riding task sent by a robot or robot platform and acquires the target elevator. The elevator-riding task includes at least a target floor. The target floor includes a departure floor S and / or a destination floor D. In response to the elevator-riding task, the system controls the internal call signal acquisition and controller to apply a registration trigger to the internal call button of the target floor in the target elevator in a simulated button press manner, so as to control the target elevator to run towards the target floor. The system acquires the registration status of the target floor and determines whether the target floor is an arrival floor based on one of the following two arrival criteria: Dynamic arrival criterion: If the target floor forms a valid registration, its status change is continuously monitored. When the target floor is detected to change from a registered state to an unregistered state, a registration trigger is applied to the target floor again. If the target floor is not registered after the re-triggering, the system determines whether the target floor is an arrival floor. If the floor re-enters the registration state, it is determined to be an abnormal cancellation event, and monitoring continues. If the target floor remains unregistered after being triggered again, and N consecutive registration triggers, including this second trigger, fail to register the target floor, then the target floor is determined to be an arrival floor. Here, N is a preset positive integer. Static arrival criterion: If the target floor is initially detected as unregistered and fails to form a valid registration after N consecutive registration triggers, then the target floor is determined to be an arrival floor. When S is determined to be an arrival floor and a confirmation signal for the car door to open is received, an entry permission signal is output to the robot or robot platform. When D is determined to be an arrival floor and a confirmation signal for the car door to open is received, an exit permission signal is output to the robot or robot platform.

[0057] In this embodiment, the static arrival criterion is used to address the following scenario: When the elevator door is closed and idle at the departure floor, the system applies a registration trigger to that floor, the indicator light does not illuminate, but the elevator does not automatically open the door, resulting in the system not receiving a door opening confirmation signal. To address this scenario, this invention introduces a static arrival criterion, which actively generates an opening signal after determining arrival, ensuring the door can open.

[0058] Furthermore, the robot elevator controller is also configured to: when S is determined to be the arrival floor, apply a registration trigger to D; if D enters the registration state after the trigger, S is finally confirmed as the arrival floor; if D does not form a valid registration, the elevator is determined to be in a special state, and an abnormal signal is output to the robot or robot platform.

[0059] Furthermore, the robot elevator controller is also configured to: when the target floor is determined to be the arrival floor based on the static arrival criterion, control the door status acquisition and controller to apply a registration trigger to the internal door opening button in a simulated button pressing manner to generate a car door opening signal.

[0060] Furthermore, the robot elevator controller is also configured to: obtain the registration status of the target floor before applying a registration trigger; if the target floor is already in a registered state, then the registration trigger will not be applied again.

[0061] Furthermore, the robot elevator controller is configured to perform a check only after a preset time (preferably 5ms, ranging from 3 to 10ms) has elapsed after the corresponding button is released each time the target floor registration status is acquired, to ensure that the button has fully popped up and the indicator light status has stabilized. This is to prevent some elevators from forcibly turning on their indicator lights when the floor button is pressed (regardless of whether the elevator is actually heading to that floor), leading to misjudgment of the status. Only after the button is released can the indicator light status accurately reflect whether the floor is in a registered state.

[0062] Furthermore, the robot elevator controller is also configured to: after determining that the car has arrived at the target floor, and before the robot completes entering and exiting the elevator, continuously send an opening and holding command to the door status acquisition and controller to maintain the car door in the open position; the opening and holding command is implemented by simulating pressing the elevator door opening button.

[0063] It should be noted that the aforementioned dynamic or static arrival criteria are independent and valid arrival determination bases. When the system meets the conditions of either criterion, the target floor is determined to be the arrival floor. This determination result (if combined with door status confirmation) can then serve as the basis for issuing an entry / exit permission signal to the robot.

[0064] In this embodiment, the elevator internal call control board refers to the elevator's original floor button control circuit board, which is part of the elevator control system. It is used to process the trigger signals of the internal call buttons and control the illumination of the internal call button indicator lights. "Internal call" refers to the elevator car operation box, i.e., the operation of passengers selecting a target floor using floor buttons inside the elevator car, as opposed to the "external call" floor call box outside the elevator hall (external call, i.e., calling the elevator via up / down buttons). The data acquisition and control object in this embodiment is the internal call system inside the elevator car, not the external call system outside the hall door. The internal call control board refers to the control panel inside the elevator car, which has multiple floor selection buttons and door opening / closing buttons, etc. The internal call buttons refer to the floor selection buttons on the internal call control board inside the elevator car, used by passengers or the system to register floors. The internal call button indicator lights refer to the status indicator lights on the floor buttons inside the elevator car used to indicate whether the floor has been registered. The typical electrical logic is: when the floor is successfully registered, the indicator light illuminates; when the elevator arrives at the floor and the door opens, the indicator light automatically turns off. Furthermore, after the elevator reaches a certain floor, even if the corresponding floor button is pressed again, the indicator light on that button remains off or turns off immediately after the button is released. The "passive mode" data acquisition refers to the internal call signal acquisition and controller not drawing power from the elevator's internal call control board or indicator light circuit, and not injecting any voltage or current signal into the acquired circuit. It only senses changes in electrical state through a state change detection circuit, achieving interference-free acquisition of the elevator's original circuitry. The passive dry contact mode refers to a switch contact connection method that does not generate voltage or current itself, only realizing circuit opening and closing. Its electrical characteristics are non-polarity, no voltage output, and pure on / off switching contacts. It does not output any voltage or current itself, requires no external power supply, and only simulates the short-circuit conduction logic of manually pressing the elevator's internal call button to complete the call triggering.

[0065] Description of permission signal response logic on the robot side: In this embodiment of the invention, the elevator entry / exit permission signal received by the robot is a dynamically valid instruction under continuous safety conditions. The execution logic on the robot side is as follows: (1) Permission validity verification: After receiving a permission signal, the robot does not execute the action all at once, but continuously monitors the permission validity status from the robot's elevator controller in the communication link. If the permission signal is withdrawn (e.g., due to an abnormal door status), the robot will immediately stop the ongoing elevator entry / exit action. Specifically: (a) If the robot is in the waiting state outside the car, the mobile robot should stop entering the car; (b) If the robot is entering or leaving the car through the car door, the mobile robot should leave the car as soon as possible to avoid blocking the car door, provided that it is safe to operate. (c) Except as provided in (a) and (b), the mobile robot shall remain stationary and wait for the elevator to resume normal service or for a designated person to be notified. Normal operation shall resume once the designated person manually controls the robot to leave the car or once the elevator service is restored.

[0066] Through the aforementioned graded response mechanism, the robot can make safe and reasonable responses when the state of the permission signal changes, ensuring the safety of the elevator ride.

[0067] The system architecture of this embodiment is as follows: Figure 1 As shown, the system consists of four main modules: a robot elevator controller, an internal call signal acquisition and controller, a door status acquisition and controller, and a robot or robot platform. The modules can be connected via various wired / wireless communication links such as TCP, RS485, Wi-Fi, LoRa, and 4G / 5G. The robot elevator controller acts as the control center, communicating with the internal call signal acquisition and controller, the door status acquisition and controller, and the robot or robot platform. The internal call signal acquisition and controller is installed between the elevator internal call control board and the internal call buttons. This is achieved by connecting the indicator light control lines and button trigger lines of the original elevator internal call buttons in parallel, connecting them to the corresponding ports of the internal call signal acquisition and controller, and then extending signal lines from the internal call signal acquisition and controller to the elevator internal call control board. This enables passive acquisition of the internal call button indicator lights and non-intrusive control of the internal call buttons. The door status acquisition and controller collects the elevator car door's operating status in real time (including statuses such as door closed, door in progress, door closing, and door open). On the other hand, it connects to the door closing button inside the elevator and controls the opening and closing of the elevator car door by simulating the pressing of the door opening and closing button, so as to maintain the car door in the open position and ensure the robot's safe entry and exit from the elevator.

[0068] The robot elevator controller is the core of interaction and control in this embodiment. Its functions include: receiving various elevator-related instructions from the robot or robot platform, such as floor registration, task status query, and door opening, and providing real-time feedback on the operation execution results to the robot. The robot elevator controller establishes communication with the internal call signal acquisition and controller, and sends floor registration instructions to it, while simultaneously acquiring the on / off status of the internal call button indicator lights in real time. The robot elevator controller communicates with the door status acquisition and controller to acquire the car door's operating status in real time and sends door opening instructions to it. In this embodiment, the robot elevator controller does not have a direct physical connection with the elevator system. Instead, it achieves non-intrusive acquisition and control of the elevator system through two intermediate modules: the internal call signal acquisition and controller and the door status acquisition and controller. Specifically: (1) The robot elevator controller and the internal call signal acquisition and controller communicate with each other via a communication connection (such as wired communication methods such as RS-485 bus and CAN bus). The internal call signal acquisition and controller is installed between the elevator internal call control board and the internal call button. The indicator light control line and button trigger line of the original elevator internal call button are connected in parallel and respectively connected to the corresponding port of the internal call signal acquisition and controller. Then, the signal line is led out from the internal call signal acquisition and controller and connected to the elevator internal call control board to realize the passive acquisition of the elevator internal call button indicator light and the non-intrusive control of the internal call button.

[0069] (2) The robot elevator controller and the door status acquisition and controller communicate with each other to exchange data. The door status acquisition and controller realizes real-time acquisition of the elevator car door operation status by adding sensors. (3) The robot elevator controller can also access external status signals such as fire protection, maintenance, and vibration isolation of the elevator through the reserved I / O interface to directly obtain special status information of the elevator.

[0070] The internal call signal acquisition and controller is installed between the elevator's own internal call control board and the internal call buttons (i.e., the elevator's internal call floor buttons). This involves connecting the floor button connection cable, originally connected to the elevator's internal call control board, to the internal call signal acquisition and controller, and then drawing corresponding signal lines from the internal call signal acquisition and controller to the elevator's internal call control board. The added internal call signal acquisition and controller collects the on / off changes of the internal call button indicator lights and sends them to the robot elevator controller; simultaneously, it receives floor commands from the robot controller and simulates sending the corresponding floor button press signal to the elevator's own system. The connection status of the elevator's internal call control board and floor buttons before and after the installation of the internal call signal acquisition and controller is as follows: Figure 2a and Figure 2b As shown in the diagram. IN_L is the state change detection circuit in the internal call signal acquisition and controller, which is installed at both ends of the control line of the internal call floor button indicator light. By detecting and acquiring the voltage changes at both ends of the control line, it infers whether the internal call button indicator light is on or off, and thus determines whether the elevator has reached the corresponding floor.

[0071] A typical application circuit for IN_L is as follows: Figure 3As shown, terminals A and B are connected to the two ends of the floor button indicator light control line according to their polarity. D1 is a Zener diode, acting as a voltage regulator to provide the detection threshold for the circuit. R1 and R2 are resistors, acting as current limiters, forming a current-limiting and voltage-regulating network at the input of optocoupler OPTO1 together with D1. When the indicator light is off, there is no voltage or a low voltage across terminals A and B, which cannot break down the Zener diode D1. Optocoupler OPTO1 is cut off, and terminal C is pulled high by resistor R3. The internal processing chip detects this and infers that the corresponding indicator light is off. When the indicator light is on, the voltage across terminals A and B is high enough to break down the Zener diode D1 and provide current to light the primary LED of OPTO1. The secondary side of OPTO1 conducts, and terminal C is pulled low by the conducting secondary side of OPTO1. The internal processing chip detects this and infers that the corresponding indicator light is on. By selecting appropriate values ​​for D1, R1, and R2, this circuit can be adapted to the 3-24V wide voltage operating range of conventional elevator LED lights and is compatible with constant on / off signals, PWM dimming, flashing, and other lighting control signals. Specifically, the voltage regulation value of D1 should be selected to be lower than the minimum operating voltage of the internal call button indicator when it indicates the registered state, and higher than its maximum residual voltage when it indicates the arrived state, to ensure reliable differentiation between the two states. The resistance values ​​of R1 and R2 should be determined based on the maximum operating voltage of the indicator and the operating current range of the optocoupler OPTO1 input terminal, ensuring that the current flowing through the optocoupler input terminal does not exceed its rated value at the maximum operating voltage, while still having sufficient current to drive the optocoupler to conduct at the minimum operating voltage. Furthermore, the isolation design of the optocoupler OPTO1 achieves passive acquisition and electrical isolation of the state change detection circuit, electrically isolating the internal call signal acquisition from the controller's internal circuitry and the elevator system, preventing mutual interference and damage between the two circuits.

[0072] Each internal call button contains two independent electrical circuits: one is an indicator light control line, which connects the elevator internal call control board to the internal call button indicator light. The elevator internal call control board controls the indicator light to turn on or off by changing the voltage on this line; the other is a button trigger line, which connects the elevator internal call control board to the switch contact of the internal call button. When the internal call button is pressed manually, the button's switch contact closes, short-circuiting the two ends of the button trigger line. After the elevator internal call control board detects this short-circuit signal, it generates the corresponding floor registration signal.

[0073] Button control logic: The state change detection circuit in the internal call signal acquisition and controller is connected in parallel to both ends of the indicator light control line to passively acquire voltage changes and thus infer the on / off state of the indicator light; the button control circuit in the internal call signal acquisition and controller connects the button trigger line of the elevator button in parallel to the button control port S_A of the internal call signal acquisition and controller (this port is a passive dry contact control port adapted to the elevator internal call button circuit, its electrical characteristics are non-polarity, no voltage output, pure on / off switch contact, it does not output any voltage or current, does not require an external power supply, and only simulates the short-circuit conduction logic of manually pressing the elevator button to complete the call trigger). By outputting the passive dry contact closing signal, it can simulate the trigger logic of manually pressing the button to the original internal call control board of the elevator, generate a floor registration signal to complete the call.

[0074] The door status acquisition and controller is responsible for collecting the elevator car door's operating status in real time. It can identify states such as door closed, door in progress, door closing, and door open, and upload the door status data to the robot elevator controller in real time, providing a basis for the robot to enter and exit the car. At the same time, it can receive door opening commands from the robot elevator controller to ensure that the car door remains in the open position.

[0075] Specifically, the door status acquisition and controller includes an open door button control circuit. Its working principle is similar to the floor button control circuit in the signal acquisition and controller, connected in parallel to the elevator open door button's trigger line using a passive dry contact method. When it receives an open door holding command from the robot's elevator controller, this circuit continuously outputs a passive dry contact closing signal, simulating pressing the elevator open door button, thereby maintaining the car door in the open position without injecting any voltage or current into the elevator system, ensuring electrical safety. Compared to methods that rely on the elevator light curtain or safety touch panel being blocked to prevent the door from closing, this embodiment maintains the car door open by actively simulating pressing the open door button. This eliminates the need for the robot to be continuously within the door zone and is not dependent on the sensitivity or installation position of the elevator safety touch panel or light curtain, making it more reliable and controllable. The elevator will automatically open its doors after arriving at the departure / destination floor. However, the elevator's original door opening delay is relatively short, while the robot needs a certain amount of travel time to drive into and out of the car. In order to avoid the elevator doors closing prematurely and damaging the robot, the system in this embodiment continuously issues door opening and holding commands throughout the robot's entry and exit from the elevator to lock and maintain the elevator door in the correct position, aiming to ensure that the robot can complete the entry and exit actions smoothly and safely.

[0076] It should be noted that the "on / off status signal" described in this embodiment is essentially a change in the electrical parameters at both ends of the control line of the call button indicator. These electrical parameters include, but are not limited to, voltage, current, frequency, duty cycle, and pulse width. For example, when the call button indicator is an LED indicator, its state change is reflected in the change of the voltage difference across the control line; when the call button indicator is an indicator using PWM dimming, its state change is reflected in the change of the pulse duty cycle; when the call button indicator is a simulated button icon displayed on the screen, its state change is reflected in the presence or absence of a driving voltage. The call signal acquisition and controller of this invention can infer the state change of the call button indicator by detecting the changes in the aforementioned electrical parameters, thereby determining the floor arrival. Therefore, any technical means of inferring the state change of the call button indicator by detecting the changes in the aforementioned electrical parameters should be understood as falling within the protection scope of this invention.

[0077] The elevator will automatically open its doors after arriving at the departure / destination floor. However, the elevator's original door opening delay is relatively short, while the robot needs a certain amount of travel time to drive into and out of the car. To prevent the elevator doors from closing prematurely and damaging the robot, this system continuously issues door-holding commands, locks and maintains the elevator door in place throughout the robot's entry and exit process, aiming to ensure that the robot can complete the entry and exit actions smoothly and safely.

[0078] The robot or robot platform is the main entity that initiates and executes the elevator riding task in this system. The robot will actively initiate operations such as calling the elevator, opening the door, and obtaining the elevator riding task status to the robot elevator controller to realize the robot riding the elevator.

[0079] The core innovation of this embodiment lies in the collaborative working mechanism among the robot elevator controller, the internal call signal acquisition and controller, and the door status acquisition and controller. The core logic of this collaborative mechanism can be summarized as a dual verification of "arrival determination + door opening confirmation".

[0080] Specifically, the robot elevator controller receives and processes two types of signals: first, the status change signal of the internal call button indicator light from the internal call signal acquisition and controller, used to determine whether the elevator has arrived at the target floor; second, the car door status signal from the door status acquisition and controller, used to confirm whether the car door is fully open. The robot elevator controller performs a logical AND operation on these two types of signals, and only when both conditions of "arrival at the floor" and "door fully open" are met simultaneously, does it issue a release signal to the robot allowing it to enter or exit the elevator. This dual confirmation mechanism effectively avoids safety accidents caused by premature robot entry or exit due to signal misinterpretation or abnormal elevator operating conditions.

[0081] Furthermore, throughout the entire process of the robot entering and exiting the elevator, the robot's elevator controller continuously sends door-holding commands to the door status acquisition and controller, keeping the car door in the open position until the robot has fully entered or exited the car and stopped in place. This "door-holding" mechanism, together with the aforementioned dual confirmation mechanism, constitutes a complete closed loop for elevator safety.

[0082] The aforementioned collaborative working mechanism enables this system to achieve a technological upgrade from "information notification" to "autonomous control," which is the key to achieving low-cost, highly reliable robot elevator operation in this invention.

[0083] This embodiment continuously monitors the status information of the internal call button indicator light as the core basis for determining whether the elevator has arrived at the corresponding floor. Simultaneously, through the internal call signal acquisition and the button control circuit in the controller, the elevator buttons are triggered using a passive dry contact method to generate a floor registration signal, thus controlling the elevator's floor buttons. The button control circuit includes a relay; the closing and opening of the relay contacts achieves passive dry contact output, simulating the short-circuit conduction logic of manually pressing elevator buttons. The overall workflow of the robot elevator is as follows: Figure 4 As shown, this workflow fully demonstrates the collaborative operation between the robot's elevator controller, internal call signal acquisition and controller, and door status acquisition and controller in this embodiment. Unlike existing technologies that only provide "elevator arrival information notification," this embodiment's workflow includes three core steps: "arrival determination," "door status confirmation," and "door open maintenance," forming a complete, closed-loop elevator safety control chain. This chain enables the robot to autonomously complete the entire process of "calling the elevator, waiting for the elevator to arrive, confirming the door is open, entering the elevator, registering the destination floor, waiting for the elevator to arrive at the target floor, confirming the door is open, and exiting the elevator," without human intervention, achieving true elevator riding. The workflow is explained in detail below. Figure 4 As shown, when determining whether the departure floor S is the arrival floor, this process can choose to use one of the following algorithms: the basic algorithm, the anti-cancellation verification algorithm (i.e., dynamic arrival criterion), or the anti-cancellation verification + special state detection algorithm (i.e., a combination of dynamic arrival criterion and cross-verification as defined in claim 10). When determining whether the destination floor D is the arrival floor, it can choose to use one of the following algorithms: the basic algorithm or the anti-cancellation verification algorithm (i.e., dynamic arrival criterion). It should be noted that the above-mentioned "basic algorithm" can cover the scenario of static arrival criterion, that is, if the initial detection is unregistered and no valid registration is formed after N consecutive registration triggers, it is still determined to be an arrival floor. The specific process of each algorithm will be detailed in the corresponding chapters below.

[0084] 1. Departure Floor Registration Stage: The robot sends an elevator command to the robot elevator controller. The elevator command includes the departure floor information, and when the elevator special status verification function is used, it also includes the destination floor information.

[0085] After receiving the instruction, the robot elevator controller first collects the status of the internal call button indicator light of the departure floor through the internal call signal acquisition and controller. If the indicator light is already lit, it indicates that there is already a registration task for the corresponding departure floor, so the floor registration signal is not generated again, and the subsequent monitoring steps are directly entered; if the indicator light is off, the internal call signal acquisition and controller's button control circuit triggers the elevator internal call control board in a passive dry contact manner, simulating pressing the floor button of the corresponding departure floor, generating the floor registration signal of the corresponding departure floor, and controlling the elevator to run to the departure floor.

[0086] The robot elevator controller continuously collects the on / off status signals of the internal call button indicator light at the departure floor through internal call signal acquisition and controller, and determines whether the elevator car has arrived at the departure floor according to preset logic. The preset logic is as follows: after the controller generates the floor registration signal for the corresponding departure floor, if the indicator light at the departure floor changes from on to off, it is determined that the elevator car has arrived at the departure floor.

[0087] Furthermore, the preset logic includes an anti-cancellation verification procedure, specifically: after the floor registration signal for the corresponding departure floor is generated, when the indicator light for the departure floor is detected to be off for the first time, the floor registration signal for the departure floor is generated again, and the status of the indicator light is monitored; if the indicator light is turned on again, it is determined that the previous extinguishing was an abnormal cancellation, and monitoring continues; if the indicator light remains off, multiple loop verifications are performed, and only when the number of times the indicator light is continuously detected to be off reaches a preset threshold is it determined that the elevator car has arrived at the departure floor at the anti-cancellation verification level.

[0088] For static arrival criteria, if the target floor is initially detected as unregistered and no valid registration is formed after N consecutive registration triggers, then the target floor is determined to be the arrival floor. In this case, the system will also execute subsequent elevator special state verification procedures and door opening trigger operations (if the car door does not open automatically).

[0089] After completing the above-mentioned anti-cancellation verification and determining that the car has arrived at the departure floor, the robot elevator controller also executes the elevator special state verification procedure, which is as follows: monitoring the status of the internal call button indicator light of the destination floor; if the indicator light of the destination floor can be lit, then the arrival at the departure floor is finally confirmed; if the indicator light of the destination floor cannot be lit, then the elevator is determined to be in a special state, and an abnormal signal is sent to the robot.

[0090] After confirming that the elevator car has arrived at the departure floor, the robot elevator controller must wait for and confirm the door opening confirmation signal received from the door status acquisition and controller. Only when both the "arrival at the floor" and "door fully open" conditions are met simultaneously will the robot elevator controller send a signal allowing entry into the elevator to the robot or robot platform. Throughout the robot's entry into the elevator, the system continuously sends door-holding commands to the door status acquisition and controller to maintain the door fully open state. This signal allowing entry can be actively pushed to the robot by the robot elevator controller, or it can be passively returned when the robot queries the robot elevator controller for elevator status. The specific process and implementation method are as follows: 1.1. Basic method for determining floor arrival (corresponding to the steps below) This algorithm is a basic method for elevator floor arrival, relying on elevator in-flight call button registration and button light status changes to achieve floor recognition. The core principle is: this system uses the status change signal of the in-flight call button indicator light as the sole basis for determining whether the elevator has arrived at the target floor, without relying on any sensors installed in the elevator shaft or on the top of the car. Floor registration is completed by simulating manual button presses through passive dry contacts. Based on the elevator's native electrical logic that "the button light illuminates when floor button registration is successful, and turns off when the elevator is at or has reached the floor corresponding to the button," the system determines whether the elevator has arrived at the departure floor, providing a basic judgment basis for robot entry and exit. The basic algorithm flow for floor arrival determination is as follows: Figure 5 As shown. Figure 5 This document demonstrates the specific process of the basic algorithm for determining floor arrival. This algorithm relies on elevator in-flight call button registration and changes in button indicator light status to identify floors. Its core principle is: floor registration is completed by simulating manual button presses using passive dry contacts. Based on the elevator's native electrical logic—that "a button light illuminates upon successful registration, indicating the elevator is in the correct location or has reached the corresponding floor, and the light turns off"—it determines whether the elevator has arrived at the destination floor. The specific process is as follows: a. After receiving the robot's elevator ride task, simulate pressing the target floor button for a period of time (typically 100ms), and then release it for a period of time (typically 5ms). (For some buttons, even if the elevator call panel sends an off signal after the button is pressed, the indicator light will still be on. Therefore, it is necessary to release the button and then detect it to ensure that the detected light on / off signal is indeed the indicator light control signal sent by the elevator. This is the only way to truly reflect whether the elevator car has reached the floor corresponding to the indicator light.) b. Detect the on / off status of the indicator lights on the target floor buttons; c. If the indicator light is on, it means the elevator is heading to the target floor. Return to step b to continue the test. d. If the indicator light goes out, it means that the car has reached the target floor. Therefore, the button indicator light will turn off, and a message allowing entry and exit of the elevator can be sent to the robot when the car door is detected to be fully open.

[0091] In addition, to address the special situation where the elevator car is already stopped at the target floor and the elevator does not automatically open the door after the floor is registered, step d above is optimized: when the button light is detected to be off and no front light signal is detected, the door opening button is simultaneously triggered to simulate a pressing operation (typical value: 100ms) to open the elevator door.

[0092] 1.2. Anti-cancellation verification algorithm (corresponding to the a1-f1 optimization steps below) The effectiveness of the dynamic arrival criterion described in this invention is based on a core premise: for the applicable elevator, during normal operation, if the elevator car has not yet reached the target floor S, applying a registration trigger to S via a simulated button will inevitably illuminate the internal call button indicator light at S (i.e., a valid registration is formed); conversely, if the elevator car has actually arrived at the floor and the door has opened, applying a registration trigger to S again should keep the indicator light off or turn it off immediately upon release. This rule remains consistent regardless of whether the elevator is running forward, backward, or has already passed floor S. This invention explicitly applies to elevator models that follow the above rule and explicitly excludes elevator models that fail to illuminate the indicator light upon re-triggering when the elevator is running normally but has not yet arrived at the floor (e.g., certain special elevators that "do not illuminate when triggered in reverse"), thus avoiding the risk of misjudgment of arrival. This algorithm is a fault-tolerant optimization algorithm for floor determination, used to solve misjudgment problems caused by manual cancellation, elevator reverse cancellation, signal interference, etc. The core principle is as follows: During the elevator's journey to the target floor, if the system detects that the target floor button indicator light is off, it initiates an anti-cancellation verification process, outputting a closed signal for the target floor button to simulate manual pressing of the target floor. If the indicator light returns to light, the previous off-light condition is considered an abnormal cancellation. After the system re-registers the target floor button, the elevator continues its original floor task, achieving the anti-cancellation function. If the indicator light remains off after the button is pressed, it is determined that the car has stopped at the target floor, and a continuous sampling verification process is initiated. At this point, the system uses a multi-cycle button registration and indicator light status sampling mechanism, determining a true arrival only when the number of consecutive off-light cycles reaches a preset threshold (typically 3 times). The anti-cancellation verification algorithm flow is as follows: Figure 6 As shown. Figure 6 The document demonstrates the specific process of the anti-cancellation verification algorithm. This algorithm is a fault-tolerant optimization algorithm for floor determination, used to solve misjudgment problems caused by manual cancellation, reverse cancellation by elevators, and signal interference. The specific process is as follows: a1. Upon receiving the robot's elevator access task, the continuous detection light-off count is reset to zero. If the target floor button indicator light is on, step c1 is executed directly; otherwise, step b1 is executed. In step a1, before applying the registration trigger to the target floor, its registration status is obtained. If the target floor is already in the registration status (i.e., the indicator light is on), the registration trigger is not applied again to avoid potential elevator cancellation issues. This is to prevent the cancellation characteristics of some elevators, especially those where pressing the button again when the floor button indicator light is on can actually lead to registration cancellation. By using a detection-before-trigger mechanism, erroneous cancellation due to repeated triggering is avoided.

[0093] b1. Simulate pressing the target floor button for a period of time (typically 100ms) and then releasing it for a period of time (typically 5ms). c1. Detect the on / off status of the indicator lights on the target floor buttons; d1. If the indicator light is on, it means that the elevator is heading to the target floor. If the light was off before, it means that the indicator light was off due to reasons such as the elevator changing direction or canceling the signal, and it was not a real elevator arrival (if it was a real elevator arrival, that is, the floor corresponding to the button that the indicator light was off was the floor where the car stopped. If the corresponding button is pressed again, the indicator light will not light up or will turn off when the button is released). Therefore, the continuous detection count of the light being off is reset to zero, and the process returns to step c1 to continue detection. e1. If a light is detected to be off, it means that the elevator may have reached the target floor. The light-off counter is incremented by 1, and it is determined whether the consecutive light-off counter has reached the specified number (typical value 3 times). If the specified number has not been reached, return to step b1 to continue the detection. f1. If the light-off count reaches the specified number of times, it means that the car has indeed reached the target floor. Therefore, repeatedly register the corresponding buttons. If the button indicator lights do not light up, a message allowing entry and exit of the elevator can be sent to the robot when the door is detected to be fully open.

[0094] 1.3. Cross-validation algorithm (corresponding to the F1 optimization steps below) To further enhance the system's robustness in handling special elevator conditions (such as fire suppression, vibration isolation, and maintenance), this embodiment of the invention also provides an optional cross-validation algorithm. This algorithm serves as a higher-level verification for the aforementioned basic arrival determination.

[0095] The core principle is as follows: After determining that the departure floor S is the arrival floor through dynamic or static criteria, the system first checks whether the destination floor D is already registered. If not, the system can further trigger the registration of the destination floor D. At this point, if the indicator light of D is in the registered state, S is finally confirmed as the arrival floor; if D is not registered, the elevator is determined to be in a special state, the system overturns the previous arrival determination and reports an anomaly to the robot. This process is as follows: Figure 7As shown, the specific steps are as follows: f11. When the anti-cancellation verification algorithm continuously detects that the number of lights off on the target floor has reached the preset threshold, after the anti-cancellation verification layer determines that the car has arrived at the target floor, the status of the internal call button indicator light on the target floor is monitored; if the indicator light on the target floor is already lit, then step f15 is executed directly; if the indicator light on the target floor is off, then step f12 is executed. f12. Control the internal call signal acquisition and controller to generate a floor registration signal corresponding to the target floor, simulate pressing the target floor button for a period of time (typical value 100ms), and then release it for a period of time (typical value 5ms). f13. Detect the on / off status of the call button indicator lights on the target floor; f14. If the call button indicator light on the destination floor is still off, it means that the elevator is not responding to the floor registration operations of the two different floors, the departure floor and the destination floor. The elevator is determined to be in an abnormal state (in a special state). An abnormal signal is sent to the robot, the robot abandons the elevator ride task, and the process ends. f15. If the destination floor indicator light is lit, it means that the elevator is responding to the floor registration of the destination floor, but not to the floor registration of the departure floor. Finally, after confirming that the elevator car has actually arrived at the departure floor, a message allowing entry into the elevator can be sent to the robot when the car door is detected to be fully open.

[0096] Meanwhile, this system can access external status signals such as elevator fire protection, vibration isolation, and emergency shutdown. When an abnormal signal is detected, it immediately reports the status and guides the robot to the nearest floor to exit the elevator, thus preventing the robot from being stranded in the elevator and causing safety accidents.

[0097] In this embodiment of the invention, the "entry permission signal" or "exit permission signal" is not a one-time instruction, but a status authorization that remains valid under specific safety conditions. The validity of this authorization is based on the simultaneous fulfillment of the following two conditions: a) The system determines the target floor and the arrival time.

[0098] b) Continuous door safety: The system monitors the door status in real time through door status acquisition and the controller to ensure that the door is in the open position. It also actively maintains the door in the open position by continuously sending "open and hold commands" to ensure that the door will not close accidentally during the robot's passage.

[0099] Therefore, when the robot receives the permission signal and begins to move, this signal always represents a safe passage state (i.e., the target floor has been reached and the car door is in the open position), allowing the robot to safely enter and exit. Accordingly, the validity of the entry or exit permission signal is dynamically maintained based on the robot's elevator controller continuously determining the target floor has been reached and continuously receiving confirmation signals that the car door is open. If, during this process, an anomaly (such as a failure of the door-holding command or an elevator malfunction) causes the door to close abnormally, the system will immediately determine that the safety conditions have failed and send an emergency stop or withdrawal command to the robot via the communication module to ensure robot safety. The robot's entry and exit actions based on the permission signal are completed under closed-loop control where the system continuously ensures the door is open.

[0100] In this embodiment of the invention, although the registration trigger for the destination floor D (corresponding to the cross-validation algorithm) occurs before the robot enters the elevator car, it does not cause the elevator to close the doors prematurely and execute task D. Its safety control logic is as follows: Door hold priority: After determining that S is the arrival floor, the system continuously sends door hold commands to keep the car door in the open position. In this state, the elevator will not perform a door closing action, so even if D has been successfully registered, the elevator cannot start to go to D.

[0101] Unlocking after entering the elevator: After the robot has fully entered the car and stopped in place, it sends a command to the system to end the door opening. The system stops the door opening hold, and the elevator can then automatically close the door and proceed to D.

[0102] Timing Summary: The entire timing sequence is as follows: Determine S's arrival → Start door-opening hold → Trigger registration for D → Robot enters the elevator → Robot stops in position → End door-opening hold → Elevator closes doors and proceeds to D. Therefore, the pre-registration of D and the robot's entry into the elevator are safely isolated through the door-opening hold mechanism, eliminating the risk of the elevator leaving prematurely.

[0103] 2. Robot entry stage: g1. After receiving the "permission to enter / exit" message, the robot enters the elevator car. During the robot's entry process, the robot or the robot passenger controller continuously sends door-holding commands to the door status acquisition and controller to maintain the elevator car door in the open position until the robot comes to a complete stop.

[0104] 3. Destination floor registration stage: In this stage, the robot elevator controller's registration, monitoring, and arrival determination logic for the destination floor D is essentially the same as the description of the departure floor S in Section 1.1 (Basic Method for Floor Arrival Determination) and Section 1.2 (Anti-Cancellation Verification Algorithm). The following only explains the differences.

[0105] h1. After the robot enters the elevator car and stops in place, the robot elevator controller receives an elevator ride task containing destination floor information sent by the robot or robot platform.

[0106] h2. The robot sends a command to the robot elevator controller to end the door opening process, and the elevator automatically closes the door and proceeds to the destination floor D.

[0107] h3. The robot elevator controller obtains the status of the internal call button indicator light on the destination floor D through the internal call signal acquisition and controller. If D is already in the registered state, the registration trigger will not be applied again, and h5 will be executed directly; if D is in the unregistered state, h4 will be executed.

[0108] h4. The robot elevator controller controls the internal call signal acquisition and controller, triggers the elevator internal call control board in a passive dry contact manner, simulates pressing the button for the destination floor D, and generates the corresponding registration signal for the destination floor.

[0109] h5. During the elevator's journey to D, the robot elevator controller continuously monitors the status changes of the button indicator lights at D.

[0110] h6. When D is determined to be the arrival floor by dynamic arrival criteria or static arrival criteria (see Sections 1.1 and 1.2 above), and the robot elevator controller confirms that the door status acquisition and controller have received the car door opening confirmation signal, it outputs an elevator exit permission signal to the robot or robot platform.

[0111] It should be noted that since the possibility of the elevator being in an abnormal state has been ruled out by the special state check before entering the elevator, the cross check (special state check) described in Section 1.3 does not need to be repeated in the arrival determination of the destination floor D, but the anti-cancellation check (Section 1.2) is still applicable.

[0112] Furthermore, the preset logic also includes an anti-cancellation verification procedure, specifically: after the floor registration signal for the corresponding destination floor is generated, when the indicator light for the destination floor is detected to be off for the first time, the floor registration signal for the destination floor is generated again, and the status of the indicator light is monitored; if the indicator light is turned on again, it is determined that the previous extinguishing was an abnormal cancellation, and monitoring continues; if the indicator light remains off, multiple loop verifications are performed, and only when the number of times the indicator light is continuously detected to be off reaches a preset threshold is it determined that the elevator car has arrived at the destination floor.

[0113] h7. If the robot is determined not to have arrived, it will continue to wait, and the robot elevator controller will continue to monitor.

[0114] h8. If it is determined that the elevator car has arrived at the destination floor, the robot elevator controller, combining the door status data collected from the door and the door opening status received by the controller, sends a signal to the robot or robot platform authorizing the elevator to depart. This authorizing departure signal can be actively pushed to the robot by the robot elevator controller, or it can be passively returned when the robot queries the robot elevator controller for the elevator status.

[0115] Specifically, after the robot enters the elevator car, it obtains the registration status of the destination floor D; if D is not in a registered state, it applies a registration trigger to D and monitors its status changes; it determines whether D is the destination floor based on one of the following two arrival criteria: Dynamic arrival criteria: If D forms a valid registration, its status change is continuously monitored. When D changes from a registered state to an unregistered state, a registration trigger is applied again and compensation verification is performed. If D is still in an unregistered state after the second trigger and D fails to enter the registered state after N consecutive triggers, then D is determined to be the arrival floor. Static arrival criterion: If D is not registered in the first detection and fails to form a valid registration after N consecutive registration triggers, then D is determined to be the arrival floor.

[0116] After determining that D is the arrival floor and receiving the car door opening confirmation signal, the robot outputs an exit permission signal.

[0117] It should be noted that when the elevator is in a special state such as fire protection, earthquake avoidance, or emergency, even if the elevator has not reached the floor the robot needs to go to, the robot should be notified to exit the elevator or take another elevator if the door is open. This scenario is handled by the aforementioned special state verification process and does not need to be described again.

[0118] 4. Robot exiting the elevator stage: In this embodiment of the invention, the exit permission signal is not a one-time command issued based on a single moment of "door opening confirmation," but rather a valid authorization that is dynamically maintained under continuous safety conditions. Its effectiveness depends on the following closed-loop control: (1) Continuous monitoring and maintenance of door status: After the system determines that D is the arrival floor and confirms that the door is open in place, it immediately starts the door opening and maintenance command and continues to maintain the car door in place in the entire validity period of the exit permit until the robot has completely driven out.

[0119] (2) Dynamic validity of the exit permission signal: The validity of the exit permission signal is based on the premise that "the door is continuously in the open position". If the door starts to close due to an abnormality, the system will immediately determine that the safety condition has failed and send an emergency stop command to the robot or withdraw the exit permission through the communication module.

[0120] (3) Coordination of robot actions: After receiving the exit permission signal, the robot should complete the exit action within the window period during which the system continuously ensures the door is open. This window period is ensured by the system's door-holding mechanism through coordination between the robot and the robot elevator controller, rather than relying on the elevator's native door-opening timer.

[0121] The specific execution process is as follows: g1. After receiving the "permission to enter / exit" message, the robot exits the elevator car. During the robot's exit process, the robot or the robot passenger controller continuously sends door-holding commands to the door status acquisition and controller to maintain the car door in the open position until the robot has completely exited the car and stopped in place.

[0122] g2. After the robot has completely exited the elevator car and stopped in place, it sends a command to the robot elevator controller to end the door opening process. The elevator doors close automatically, and the current elevator ride ends.

[0123] If the robot needs to work across multiple floors, it can be executed cyclically according to the above logic.

[0124] Compared with the prior art, the embodiments of the present invention have the following advantages: The embodiments of the present invention address the core pain points of traditional external sensor elevator solutions, such as high cost, poor stability, and weak adaptability, by optimizing and reconstructing the entire technology chain, and have the following significant advantages.

[0125] (1) Low deployment and construction threshold, improved implementation efficiency, and reduced equipment costs This invention eliminates the need for additional sensors in the elevator shaft or on the elevator car roof. It uses pre-fabricated, non-destructive wiring harnesses, requiring no modifications to the existing elevator circuitry. Installation is simple, requiring only plug-and-play connection to the elevator car's control panel. The entire process eliminates the need for high-altitude work in the shaft, thus removing safety hazards associated with such work. Furthermore, it eliminates the need for customized adjustments such as floor calibration and leveling alignment for each elevator, allowing for immediate use and significantly improving implementation efficiency. It also completely eliminates the cost of purchasing external sensor hardware, resulting in a significant cost advantage throughout the entire lifecycle.

[0126] (2) Improved reliability and scenario adaptability The embodiments of the present invention realize the floor status perception based on the detection of button lights. It is not affected by electromagnetic interference in the shaft, metal signal reflection, floor height difference, elevator running speed, and there are no problems such as dust accumulation and leakage of sensors during long-term operation. It can be widely adapted to various elevator scenarios such as ordinary commercial elevators, high-speed elevators, and old elevator renovation. Its scenario compatibility and operational stability are far superior to traditional solutions.

[0127] The key technical point of this invention is a robot elevator system based on the acquisition and control of internal call button indicator lights. It is applicable to elevator models where the internal call button indicator lights for the corresponding floor change on and off when the elevator arrives at a station. This invention abandons the industry-standard external sensor floor detection solution and innovatively utilizes the state changes of the elevator's native internal call button indicator lights to determine elevator arrival. Combined with passive dry contact triggering elevator internal call control board technology and a multi-level fault-tolerant verification algorithm, it achieves low-cost, highly reliable robot elevator operation, possessing strong novelty, inventiveness, and practicality.

[0128] The core protection scope of this invention revolves around the core innovation of "collection and control of elevator in-room call buttons," covering the dimensions of system devices and detection methods: This invention provides a robot elevator riding system based on the acquisition and control of elevator in-flight call buttons. The system includes a robot elevator riding controller, an in-flight call signal acquisition and controller, a door status acquisition and controller, and a robot / robot platform functional module, which work together to complete the robot elevator riding operation. This system does not require any external detection sensors installed in the elevator shaft or on the top of the car. It achieves accurate floor arrival determination solely by passively acquiring the on / off status of the elevator in-flight call button indicator lights. Simultaneously, it triggers the elevator buttons to generate a call signal and coordinates door opening and closing via passive dry contacts, ultimately enabling robot elevator riding.

[0129] Basic Arrival Determination: This invention provides a basic method for detecting whether an elevator has reached the robot's departure / destination floor. The system triggers the elevator's internal call control board, simulating pressing the departure / arrival button for a period of time, releasing it for a period of time, and then detecting the state change of the internal call button indicator light. If the internal call button indicator light indicates a registered state, it is determined that the elevator is heading towards the departure / destination floor and the detection continues. If the internal call button indicator light indicates an arrived state, it is determined that the car has arrived at the departure / destination floor, and this serves as the core basis for determining whether the elevator has arrived at the "departure / destination floor".

[0130] Fault-tolerant and misjudgment-preventing: A highly reliable floor arrival detection method to prevent human error in canceling elevator numbers, automatic reverse cancellation, and signal interference. When an abnormal cancellation occurs, pressing the floor button again will keep the indicator light on if the car has not reached the corresponding floor. If the car has stopped at the corresponding floor, the indicator light will turn off after the button is released. Simultaneously, through multiple cycles of button registration and indicator light status sampling, a true arrival is determined only when the number of consecutive light outages reaches a preset threshold (typically 3 times). This serves as the core criterion for determining whether the elevator has arrived at the departure / destination floor, thus improving system reliability.

[0131] Elevator Special Status Misjudgment Prevention: To prevent the elevator from malfunctioning when either floor indicator light is off when in a special state, which could lead to misjudgment, the system employs a method of simultaneously pressing the departure floor and destination floor buttons. When the departure floor button is pressed but the corresponding indicator light is off, the destination floor button will light up (the robot is already heading to the destination floor, so this prevents the elevator from running empty), indicating that the elevator has indeed arrived at the departure floor. If neither floor button lights up, it can be deduced that the elevator is in a special state.

[0132] In this embodiment, the internal call signal acquisition and controller and the internal call button panel can be integrated into a single elevator control panel module. The module is manufactured with the electrical connections between the internal call signal acquisition and controller and the internal call button panel already in place. During on-site installation, simply replacing the elevator's original internal call button panel with the entire module is sufficient to enable the robot's elevator riding function, further simplifying the on-site construction process.

[0133] It should be noted that the robot elevator controller can also send the status change signals of the internal call button indicator lights and the car door opening status signals to the robot or robot platform in real time. The robot or robot platform then determines whether the elevator has reached the target floor and whether entry / exit is permitted based on the received signals. In this case, the robot elevator controller mainly performs signal acquisition and forwarding functions, while the arrival determination and elevator entry / exit decisions are completed by the robot or robot platform. The scope of protection of this invention covers both of the above implementation methods, namely, the arrival determination and elevator entry / exit decisions are performed by the robot elevator controller, by the robot or robot platform, or by both in a coordinated manner.

[0134] Example 2 This embodiment provides a more detailed description of the present invention and fully demonstrates the collaborative mechanism of the four core modules of the system (robot elevator controller, internal call signal acquisition and controller, door status acquisition and controller, and robot platform). Through hardware selection, parameter settings, and a complete working process, the feasibility of the present invention is verified.

[0135] The "simulated pressing of floor buttons" and other operations described in this embodiment are essentially triggered by the internal call signal acquisition and controller in a passive dry contact manner to generate the floor registration signal for the corresponding floor.

[0136] I. Embodiment Carrier 1) Elevator equipment: An office building elevator has 12V LED indicator lights for the internal call buttons. The original electrical logic is: the button light stays on 12V when the floor registration is successful, and the button light automatically turns off 0V after the elevator arrives and the door opens. This is compatible with the detection principle of this invention. 2) Operational robots: Indoor delivery robots (supporting Wi-Fi communication); capable of issuing commands, querying status, and adaptive driving when entering and exiting elevators.

[0137] 3) Deployment scenario: Operation on all floors from 1 to 8 of an office building, without special elevator modifications, fully preserving the original elevator safety circuit and control logic.

[0138] II. Core Module Hardware (1) Robot elevator controller (core main control module): Communication methods: It communicates with the robot platform via Wi-Fi, and with the internal call signal acquisition and controller and the door status acquisition and controller via TCP or RS485, so as to realize multi-module data interaction and command scheduling; Core functions: global task scheduling, instruction forwarding, status logic verification, and abnormal condition determination.

[0139] (2) Internal call signal acquisition and controller (signal acquisition + execution module): Detection element: Optical coupler, passive acquisition, non-polarized, does not interfere with the elevator's original circuitry; Control element: Relay, adopting a passive dry contact output mode, with no voltage or current output, only simulating the short-circuit conduction logic of manual button press; Electrical compatibility parameters: Compatible with elevator button lights with a wide voltage range of 3-24V, and adaptable to various elevator lighting control signals such as constant on / constant off / PWM dimming signals, and compatible with the vast majority of commercial elevators on the market.

[0140] (3) Door status acquisition and controller: Detection element: Hall magnetic sensor, which collects elevator door operation signals.

[0141] Recognizable states: door in the middle, door fully open, door in the middle, door fully closed.

[0142] (4) Robot platform (task execution terminal) Task interaction logic: Actively issue elevator access tasks, query elevator status in real time, receive master control release signals, and execute elevator entry and exit actions.

[0143] III. Key Parameter Configuration To ensure the feasibility of the solution, this embodiment uses fixed, reproducible parameters, as follows: 1) The button simulation press duration is fixed at 100ms (range 50~200ms); to achieve stable floor registration; 2) Button press simulation delay acquisition time (delay from button release to the first sampling of indicator light status stabilization): Each time the indicator light status is detected, the detection of the indicator light status will begin at least 5ms after the button is released (the value range is 3~10ms) to ensure that the button has fully popped up and the indicator light status has stabilized. 3) Internal call button indicator light status sampling window: Each time the indicator light status is detected, if the signal is stable and lit within a continuous sampling time window of 0.5ms (value range is 0.1~1ms), the indicator light status is determined to be lit, thereby eliminating the influence of signal jitter and external interference on the detection; 4) Internal call button indicator light status sampling window: Each time the indicator light status is detected, if the signal is stable and off within a 20ms sampling time window (value range is 0.1~500ms), the indicator light status is determined to be off. This eliminates the influence of signal jitter, external interference, and some special characteristics of button indicator lights (such as square wave signal when the light is on, and flashing when the indicator light is about to arrive) on the detection. 5) Continuous effective sampling threshold: 3 times (range 2~5 times); solves the problem of manual cancellation, elevator reverse cancellation, and instantaneous signal interference caused by signal interference.

[0144] IV. Normal Operating Conditions (Full Module Collaborative Workflow) This embodiment takes the elevator car initially stopping on the 3rd floor, and the robot starting from the 1st floor and taking the elevator to the 5th floor as an example of a complete cross-floor elevator ride task, and follows the... Figure 4 The robot's overall elevator operation process is shown below, replicating the procedures for simulated button triggering, button light status acquisition, anti-cancellation verification, and elevator special status verification. The specific steps are as follows: T1. Task Initiation, Process Start. The robot sends a complete elevator ride task to the robot elevator controller via Wi-Fi, with the instruction carrying the departure floor (1st floor) and the destination floor (5th floor). After receiving the elevator ride task, the robot elevator controller clears the internal "detection light off count" variable to zero.

[0145] T2, departure floor elevator call registration, specifically includes: T21. Internal call signal acquisition and controller acquires the status of the internal call button indicator light on the 1st floor. If the indicator light is not lit, it means that there is already a registered elevator call task on the 1st floor. Skip the button action and directly enter T3 to continuously monitor the button indicator light status; if the indicator light is off, execute T22 to simulate button operation.

[0146] T22, the internal call signal acquisition and controller output closes for 100ms, then opens and releases for 5ms, simulating a human hand pressing the internal call button on the 1st floor to complete the floor registration trigger.

[0147] T3. Continuous monitoring and acquisition of indicator lights. The internal call signal acquisition and controller continuously acquires the indicator light signals of the buttons on the first floor. During each detection, a 20ms sampling delay is waited to ensure that the button status is stable before acquiring the indicator light status with a 0.5ms sampling window.

[0148] If the button indicator light is detected to be on, confirming that the elevator is moving towards the 1st floor, clear the "detection light off count" and return to T3 to continue monitoring; If the button indicator light is detected to be off, increment the "detection light off count" by 1 and enter the T4 anti-cancellation verification process.

[0149] T4, Anti-cancellation verification (corresponding to dynamic arrival criteria), specifically includes: T41. Determine whether the current "detection light off count" has reached the threshold N times (e.g., N=3).

[0150] If the threshold is not reached, the process jumps back to T22 and repeats the cycle of pressing and releasing the button and collecting the status of the button indicator light to trigger compensation. If the threshold is reached, S is determined to be the arrival floor, and the T5 special status verification process is initiated.

[0151] Special Note: The special status verification in T5 (corresponding to the cross-validation algorithm) is an optional enhancement step provided in this embodiment. In practical applications, if the system does not enable this optional cross-validation function, after determining that S is the arrival floor in T4, it can directly proceed to T6 without executing the special status verification in T5. In this case, the aforementioned basic arrival determination and release logic can be achieved solely based on the dynamic arrival criteria and door status confirmation in T4.

[0152] T5, Special Status Verification.

[0153] For embodiments involving external special signal inputs to the elevator, this step prioritizes reading the external input signals to determine if the elevator is in a special state such as fire protection, maintenance, or vibration isolation. If a special state is detected, the robot elevator controller notifies the robot of the elevator malfunction, and the process ends.

[0154] If the elevator is in normal working condition, proceed to the following verification: T51, internal call signal acquisition and controller acquires the signal of the button indicator light on the 5th floor.

[0155] If the destination floor indicator light is already on, confirming that the elevator car has indeed arrived at the 1st floor, proceed with T6; If the target floor indicator light goes out, the button for the target floor (5th floor) will be pressed for 100ms and released for 5ms, simulating a human hand pressing the call button on the 5th floor.

[0156] T52. After pressing and releasing, collect the status of the indicator lights on the 5th floor button again.

[0157] If the indicator light on the 5th floor button is lit, it confirms that the elevator can register the destination floor normally and that the car has actually arrived at the 1st floor. Then proceed with T6. If the indicator light on the 5th floor button is still off, it is determined that neither the departure floor nor the destination floor can be registered, the elevator is in a special fire / maintenance condition, the robot is notified to abandon the elevator ride, and the process ends.

[0158] T6. Once the departure floor is confirmed, the robot enters the elevator car.

[0159] The door opening process is executed based on the arrival criterion type: If the elevator is determined to have reached the departure floor based on the static arrival criterion (i.e., the elevator may have stopped at the departure floor but the door has not opened), the robot elevator controller will first collect the door status and simulate pressing the door open button to actively trigger the car door to open.

[0160] If the arrival at the departure floor is determined by the dynamic arrival criterion (i.e., the elevator has just arrived at the departure floor and has automatically opened or is in the process of opening the door), the robot elevator controller waits and confirms that the car door is in place.

[0161] After confirming that the car door is fully open, the robot's elevator controller sends a permission signal to the robot to enter. Throughout the robot's entry process, it continuously issues door-holding commands to maintain the car door in place and prevent the elevator door from closing prematurely and injuring the robot.

[0162] After the robot has fully entered the elevator car and stopped in place, it sends the destination floor task instruction and the door opening end instruction to the robot elevator controller.

[0163] T7, the destination floor is registered inside the elevator car as the 5th floor. The counter is then reset, including the following: T71. Clear the internal "detection light off count"; the internal call signal acquisition and controller acquire the status of the 5th floor button indicator light inside the car. If the indicator light is on, it means that the 5th floor call has been registered. Do not press the button again and proceed to T8; if the detection indicator light is off, proceed to the next step T72 to simulate button operation.

[0164] T72, the internal call signal acquisition and controller output closes for 100ms, then opens and releases for 5ms, simulating a human hand pressing the internal call button on the 5th floor, completing the floor registration trigger.

[0165] T8, indicator lights continuously collect and monitor data.

[0166] The internal call signal acquisition and controller continuously collects the signal from the button indicator lights on the 5th floor. If the button indicator light is detected to be on, it confirms that the elevator is moving towards the 5th floor and resets the "detection light off count" to zero; if the button indicator light is detected to be off, it immediately enters T9 to carry out the arrival verification process.

[0167] T9, anti-cancellation number and special status verification, specifically including: T91. Determine if the "detection light off count" has reached the threshold of 3 times. If not, jump to T72 and cycle through the press-release and button indicator light status detection; if the threshold has been reached, proceed to T92.

[0168] T92. For embodiments that connect to special external elevator signal inputs, the external input signal is read first to determine whether the elevator is in a special state such as fire protection, maintenance, or vibration isolation. If a special state is detected, the robot is notified to exit the elevator at the nearest exit and end the elevator ride process.

[0169] If the elevator is in normal working condition, it is determined that the car has actually arrived at the 5th floor level and the car door is in place.

[0170] T10, the robot drives out of the elevator car, mission accomplished.

[0171] The robot elevator controller sends a permission signal to the robot to exit; the robot then exits the elevator car. Throughout the robot's exit process, door-holding commands are continuously sent. Once the robot has completely left the elevator car, a door-opening end command is sent; the elevator doors close automatically, and the robot's cross-floor elevator ride process ends.

[0172] Comparison of cost reduction ratio between the embodiments of the present invention and traditional solutions To objectively verify the technical superiority and practical effectiveness of the embodiments of the present invention compared with traditional external sensor elevator access solutions, a comparative experiment was conducted using the same scenario and equipment. The experimental group used the present invention to realize robot elevator access based on the internal call button indicator light acquisition and detection, while the control group used an external sensor detection solution in the shaft / car top to realize robot elevator access. The same 8-story commercial elevator and the same model of delivery robot were selected, and comparative tests were conducted on the elevator arrival detection function from the dimensions of hardware cost and construction and debugging cost. The specific description is as follows.

[0173] (1) Comparison of hardware procurement costs Traditional solution: Install U-shaped infrared leveling sensors in the elevator shaft and install metal magnetic shielding plates layer by layer, providing a complete set of dedicated hardware for an 8-story elevator. Hardware list and market price: The market price of a single U-shaped infrared elevator leveling sensor is approximately 180 yuan; the market price of a single elevator-specific metal magnetic shielding plate is approximately 40 yuan, with 8 plates per floor; the package includes a complete set of external accessories such as mounting brackets, wiring, and terminal blocks. The total market price for the hardware procurement of an 8-story elevator is approximately 600 yuan.

[0174] The solution proposed in this invention eliminates the need for external sensors, magnetic shielding plates, or dedicated brackets in the elevator shaft and car top. The hardware consists only of common basic electronic components such as optocouplers, diodes, and surface-mount resistors and capacitors. These are all standard components available on the market, with extremely low unit prices and controllable costs for bulk purchases. The market price for the core hardware of an 8-story elevator is approximately 20 yuan.

[0175] Actual test results: The hardware procurement cost of the embodiment of the present invention is reduced by 96% compared with the traditional solution, and the cost advantage is extremely significant.

[0176] (2) Comparison of on-site construction and installation / commissioning costs Traditional solution: The traditional solution for elevator arrival detection relies entirely on external sensors mounted on the shaft / car top. For an 8-story elevator, multiple steps are required, including drilling and fixing metal magnetic plates in the elevator shaft, aligning and installing U-shaped infrared sensors, and debugging. The work is carried out in a confined, high-altitude special equipment area, and the construction time for a single elevator can reach 5 hours, with labor costs reaching 500 yuan per elevator.

[0177] The present invention embodiment does not rely on any external shaft arrival detection device. It relies on the electrical logic of the elevator's native internal call button indicator to determine the arrival. It only requires non-destructive plug-in in the elevator car and there is no high-altitude work in the shaft. The construction process is extremely simple. The construction time of a single elevator can be controlled within 30 minutes and the labor cost of a single elevator construction is less than 100 yuan.

[0178] Actual test results: The on-site construction and installation cost of this invention is reduced by more than 80% compared with the traditional solution.

[0179] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, several equivalent substitutions or obvious modifications can be made without departing from the concept of the present invention, and all such modifications, achieving the same performance or purpose, should be considered within the scope of protection of the present invention.

Claims

1. A robot elevator system based on internal call button indicator light data acquisition, characterized in that, This includes a robot elevator controller, an internal call signal acquisition and controller, and a door status acquisition and controller; The internal call signal acquisition and controller is used to acquire the registration status of the internal call button indicator lights on each floor inside the target elevator car, and to apply registration trigger to the corresponding internal call button in a simulated button pressing manner according to the instructions of the robot elevator controller. The door status acquisition and controller is used to acquire the open position status of the inner door of the target elevator car and provide the robot elevator controller with an inner door opening confirmation signal; The robot elevator controller is configured as follows: Receive an elevator ride task from a robot or robot platform and obtain the target elevator, wherein the elevator ride task includes a target floor; the target floor includes the departure floor S and / or the destination floor D; In response to the elevator ride task, the internal call signal acquisition and controller is controlled to apply a registration trigger to the internal call button of the target floor in the target elevator in a simulated button press manner, so as to control the target elevator to run to the target floor; Obtain the registration status of the target floor, and determine whether the target floor is an arrival floor based on one of the following two arrival criteria: Dynamic arrival criteria: If the target floor is validly registered, its status change is continuously monitored. When the target floor changes from a registered state to an unregistered state, a registration trigger is applied to the target floor again. If the target floor re-enters the registered state after the second trigger, it is determined to be an abnormal cancellation event, and monitoring continues. If the target floor is still unregistered after the second trigger, and N consecutive registration triggers, including this second trigger, fail to bring the target floor into the registered state, then the target floor is determined to be an arrival floor; where N is a preset positive integer. Static arrival criterion: If the target floor is not registered in the first detection and fails to form a valid registration after N consecutive registration triggers, then the target floor is determined to be the arrival floor; When the robot elevator controller determines that S is the arrival floor and receives the confirmation signal that the inner door of the car has opened, it outputs an elevator entry permission signal to the robot or robot platform to indicate that entry into the target elevator is permitted. When the robot elevator controller determines that D is the arrival floor and receives the confirmation signal that the inner door of the car has opened, it outputs an exit permission signal to the robot or robot platform to indicate that the elevator is allowed to exit the target elevator.

2. The robot elevator system according to claim 1, characterized in that, The destination floor D and the departure floor S are different floors, and the robot elevator controller is further configured as follows: When the robot elevator controller determines that S is the arrival floor, it applies a registration trigger to D; if D enters the registration state after the trigger, then S is finally confirmed as the arrival floor. If D fails to form a valid registration, the elevator is determined to be in a special state, and an abnormal signal is output to the robot or robot platform.

3. The robot elevator system according to claim 1, characterized in that, The robot elevator controller is also configured to: When the target floor is determined to be the arrival floor based on the static arrival criterion, the door status acquisition and controller is controlled to trigger the interior door opening button in a simulated button pressing manner to generate a car door opening signal.

4. The robot elevator system according to claim 1 or 2, characterized in that, The robot elevator controller is also configured to: obtain the registration status of the target floor before applying a registration trigger; if the target floor is already in a registered state, then the registration trigger will not be applied again.

5. The robot elevator system according to claim 1 or 2, characterized in that, The robot elevator controller is also configured to perform a detection only after a preset time has elapsed since the corresponding button was released each time the registration status of the target floor is obtained.

6. The robot elevator system according to claim 1, characterized in that, The internal call signal acquisition and controller includes a state change detection circuit, which is connected in parallel to both ends of the internal call button indicator line. It is used to infer the state change of the internal call button indicator by detecting the voltage and / or waveform changes at both ends.

7. The robot elevator system according to claim 1, characterized in that, The internal call signal acquisition and controller includes a button control circuit, which includes a relay. The contacts of the relay are connected in parallel to the two ends of the internal call button as passive dry contacts to simulate the short-circuit conduction logic of manual button pressing.

8. The robot elevator system according to claim 1, characterized in that, The robot elevator controller is also configured to: after determining that the car has arrived at the departure floor or the destination floor, and before the robot completes entering or exiting the elevator, continuously send an opening and holding command to the door status acquisition and controller to maintain the car door in the open position; the opening and holding command is implemented by simulating pressing the elevator door opening button.

9. A method for robot elevator use based on internal call button indicator light data acquisition, characterized in that, Includes the following steps: S1. The robot elevator controller receives the elevator riding task from the robot or robot platform and obtains the target elevator. The elevator riding task includes the target floor, which includes the departure floor S and / or the destination floor D. S2. In response to the elevator riding task, the robot elevator controller controls the internal call signal acquisition and controller to apply a registration trigger to the internal call button of the target floor in the target elevator in a simulated button pressing manner, so as to control the target elevator to run to the target floor; S3. Obtain the registration status of the target floor, and determine whether the target floor is an arrival floor based on one of the following two arrival criteria: Dynamic arrival criteria: If the target floor forms a valid registration, its status change is continuously monitored. When the target floor changes from a registered state to an unregistered state, a registration trigger is applied to the target floor again. If the target floor re-enters the registered state after the trigger, it is determined to be an abnormal cancellation event, and monitoring continues. If the target floor remains unregistered after being triggered again, and N consecutive registration triggers, including this second trigger, fail to register the target floor, then the target floor is determined to be the arrival floor; where N is a preset positive integer. Static arrival criterion: If the target floor is not registered in the first detection and fails to form a valid registration after N consecutive registration triggers, then the target floor is determined to be the arrival floor; S4. When S is determined to be the arrival floor and a confirmation signal for the opening of the inner door of the car is received, an entry permission signal is output to the robot or robot platform to indicate that entry into the target elevator is permitted. S5. When D is determined to be the arrival floor and a confirmation signal for the inner door of the car is received, an exit permission signal is output to the robot or robot platform to indicate that the elevator is allowed to leave the target elevator.

10. The robot elevator riding method according to claim 9, characterized in that, The destination floor D and the departure floor S are different floors, and the robot elevator method further includes: S6. When S is determined to be the arrival floor, a registration trigger is applied to D; S7. If D enters the registration state after being triggered, then S is finally confirmed as the arrival floor; S8. If D fails to form a valid registration, the elevator is determined to be in a special state, and an abnormal signal is output to the robot or robot platform.

11. The robot elevator riding method according to claim 9, characterized in that, In step S3, when the target floor is determined to be the arrival floor based on the static arrival criterion, the control door status acquisition and controller applies a trigger to the inward door opening button in a simulated button pressing manner to generate a car door opening signal.

12. The robot elevator riding method according to claim 9 or 10, characterized in that, In step S2, before applying the registration trigger to the target floor, the registration status of the target floor is obtained; if the target floor is already in a registered state, the registration trigger is not applied again.

13. The robot elevator riding method according to claim 9 or 10, characterized in that, Each time the registration status of the target floor is obtained, the detection is performed only after a preset time has elapsed since the corresponding button was released.

14. A robot, characterized in that, include: Mobile chassis; A communication module for communicating with the robot elevator system as described in any one of claims 1-8; A processor, a memory, and a computer program stored in the memory and executable on the processor; When the processor executes the computer program, it controls the robot to perform the following steps: The elevator request, which includes target floor information, is sent to the robot elevator system via the communication module. The communication module receives an elevator entry permission signal from the robot elevator system. Based on the elevator entry permission signal, control the mobile chassis to drive into the elevator car; The communication module receives an exit permission signal from the robot elevator system. Based on the exit permission signal, the mobile chassis is controlled to drive out of the elevator car.

15. An elevator system, characterized in that, The system includes an elevator body and a robot elevator system as described in any one of claims 1-8. The robot elevator system realizes the robot's elevator riding function by collecting data from the internal call button indicator lights on the elevator body and controlling the internal call buttons.

16. A cloud-based scheduling system, characterized in that, The system includes a server that is communicatively connected to at least one robot as described in claim 14 and at least one robot elevator system as described in any one of claims 1-8. The server is used to forward cross-floor tasks to the robot, schedule multiple robots to use the elevator simultaneously, and obtain elevator status data from the robot elevator system to perform global scheduling and management of elevator use tasks for multiple robots and multiple elevators.

17. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the robot elevator method as described in any one of claims 9-13, or implements the steps executed by the processor in the robot as described in claim 14.

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